Path tracking control of a mobile robot using fuzzy logic
Path tracking control of a mobile robot using fuzzy logic
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使用模糊逻辑的移动机器人路径跟踪控制
DOI：
10.1109/ssd.2016.7473656
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Mohammad M. Ali
中科院分区：
文献类型：
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作者：
Mohammed Rabeea Hashim Al;Mohammad M. Ali
近年来，移动的机器人的研究和开发成为众多研究者关注的重要课题。这是因为移动的机器人在真实的生活中应用广泛。移动的机器人最重要的任务之一是控制其导航以跟踪预定义的路径，这也要求移动的机器人具有良好的避障能力。在寻找一个良好的数学模型的困难，为移动的机器人在这项研究中使用“Robotino®从费斯托公司”作出决定，使用模糊逻辑来设计一个控制器能够引入一个安全的Robotino®导航。模糊逻辑控制器需要有关Robotino®功能和行为的信息，以构建其规则库，这些规则库是从此类应用中的人类经验中获得灵感的。这些规则可以很容易地编程，以产生有效的控制器。实现了Sugeno算法，实验结果验证了该算法的有效性。具有153模糊规则的模糊逻辑控制器用于控制Robotino®路径跟踪问题，而具有27模糊规则的另一模糊逻辑控制器用于Robotino®避障功能。Matlab是用来作为一个工具来实现这两个建议的模糊控制器。在费城大学工程系研究实验室进行了许多实时实验。结果表明所设计的控制器具有良好的控制性能。
Recently, the study and development of the mobile robot is considered as a very important issue for many researchers. This is because the wide range of mobile robot applications in real life. One of the most important mobile robot tasks is the control of its navigation in tracking its predefined path. This also need a good capability in avoiding any static or dynamic obstacles that the mobile robot face in its route until reaching its destination. The difficulty in finding a good mathematical model for tShe mobile robot used in this research "Robotino® from Festo company" made the decision to use fuzzy logic to design a controller capable to introduce a safe Robotino® navigation. Fuzzy logic controller needs information about Robotino® features and behavior in order to build its rule base which are inspired from human experience in such application. These rules can be easily programmed to bring out an efficient controller. Sugeno algorithm is implemented which the experiments results validated its efficiency. Fuzzy logic controller with 153-fuzzy rule is used for controlling the Robotino® path tracking issue, while another fuzzy logic controller with 27-fuzzy rule is applied for the Robotino® obstacle avoidance feature. Matlab is used as a tool to implement the two proposed fuzzy controllers. Many realtime experiments have been conducted in the Faculty of Engineering research laboratory at Philadelphia University. Results reflect the good abilities of the proposed controllers.